Multi-clad fiber based optical apparatus and methods for light detection and ranging sensors

ABSTRACT

Methods and apparatus for light detecting and range sensing. In one approach, a light detecting and ranging (LiDAR) sensor uses an optical directing device; a multi-clad optical fiber, a light source, and a detector. The light source is optically coupled to the multi-clad optical fiber which is configured to receive optical rays transmitted from the light source and route the rays on an optical path leading to the optical directing device. The optical directing device is configured both to direct the transmitted optical rays routed through the multi-clad fiber towards a target to be sensed and direct optical rays reflected from the target on an optical path leading to the multi-clad optical fiber. The multi-clad optical fiber is configured to receive the reflected optical rays and route the reflected optical rays on an optical path leading to the detector. The detector is configured to detect the reflected optical rays.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority under 35 U.S.C 119(e) to U.S.Provisional patent application No. 61/738,646 which was filed on Dec.18, 2012, the disclosure of which is incorporated herein by reference inits entirety.

A portion of the disclosure of this patent document contains materialwhich is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the Patent and TrademarkOffice patent file or records, but otherwise reserves all copyrightrights whatsoever.

STATEMENT REGARDING FEDERAL RIGHTS

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TECHNICAL FIELD

Embodiments relate to optical apparatus and, more particularly but notexclusively, to optical apparatus for light detection and rangingsensors. Embodiments also relate to optical methods, and moreparticularly but not exclusively, to optical methods for light detectionand ranging sensors. Embodiments also relate to LiDAR sensors.

BACKGROUND

Light detecting and ranging (LiDAR) sensors are utilized in a variety ofapplications to measure the distance to a target, to measure the angleto a target, to determine the location of a target, the speed of atarget, the shape of a target, the reflectance of a target, or othertarget associated parameter. LiDAR sensors are used to collect dataabout objects without making physical contact with the object. Systemswith integrated LiDAR sensors are used extensively to acquire threedimensional geospatial information about a broad range of environments.For example, State Departments of Transportation (DOT) use LiDAR data tomeasure vertical clearances above roads at overpasses, bridges, andtunnels, as well as to inventory assets such as street signs, trafficlights, lane markings and fire hydrants to cite a few. Commercialmapping companies also use LiDAR to inventory assets such as gaspipelines, electrical transmission lines, to measure material removedfrom mines, and to map points of interest such as restaurants, parks, orschools located along roadways. LiDAR sensors are especially valuablefor detecting objects located within dangerous or hard to access areas,and practicioners have integrated LiDAR sensors into positioning systemsmounted in aircraft, on boats, and motor vehicles. Land surveyors haveused positioning systems with integrated LiDAR sensors to createtopographical maps for their customers.

There are many types of LiDAR sensors. One example of a LIDAR sensor isa Time of Flight based LiDAR sensor. Time of Flight based LiDAR sensorsoperate by measuring the elapsed time from when a pulse of light isemitted to when the reflected light pulse returns to the sensor. Thatmeasurement is known as the Time of Flight (TOF). The light pulse istypically generated by a laser. The reflected pulse is detected by aphotoelectric transducer (detector), typically an avalanche photodiode.The measurement of elapsed time is performed by an electronic circuit.By using the formula Distance=(Speed of Light×Time of Flight)/2, a TOFLiDAR sensor can calculate a distance to an object to within onecentimeter at ranges greater than 200 meters. Known architectures ofLiDAR sensors use one optical path including a dedicated lens to directoutgoing laser pulses towards target surfaces and a second optical pathincluding a separate lens to receive the reflected pulses and directthem towards a detector. Another example of a LiDAR sensor is a phasedbased LiDAR sensor.

There is a need to provide an improved optical apparatus and method forlight detecting and range sensing.

SUMMARY

According to one aspect, there is provided an optical apparatus forlight detection and ranging sensors. The apparatus may comprise anoptical directing device and at least one multi-clad optical fiber. Themulti-clad fiber comprises a core, at least one inner cladding, and anouter cladding. Herein the term “inner cladding” refers to the at leastone inner cladding layer of the multi-clad fiber between the core andthe outer cladding. The multi-clad fiber is arranged to receive opticalrays transmitted from at least one light source and route transmittedoptical rays on an optical path leading to the optical directing device.The optical directing device is configured both to direct the routedtransmitted rays on an optical path leading to a target to be sensed anddirect reflected optical rays from the target on an optical path leadingto the optical fiber. The fiber is further configured to receivereflected optical rays and route the reflected optical rays forreceiving by at least one detector.

In one embodiment of the optical apparatus, the core of at least onemulti-clad fiber is arranged to receive optical rays transmitted fromthe at least one light source and route the transmitted optical rays onan optical path leading to the optical directing device. The opticaldirecting device is configured both to direct the routed transmittedrays on an optical path leading to the target to be sensed and directreflected optical rays from the target on an optical path leading to thecore and inner cladding of the or each optical fiber. The inner claddingis configured to receive the reflected optical rays and route thereflected optical rays for receiving the by at least one detector.

In one approach, the optical rays reflected by the target and directedby the optical directing device into the core of the or each multi-cladfibers typically comprises an insignificant portion of the reflectedlight and one or more embodiments are not configured to detect thislight. In some target conditions however, for instance when the targetis a retro-reflector, the light received by the core will comprise asignificant portion of the reflected light and one or more embodimentscomprise an optical circulator to enable the detection of substantiallyall of this reflected light in the core without reducing the efficiencyof the coupling from the light source to the core. Non-reciprocaloptical components other than optical circulators are envisaged. In oneor more such embodiments, the one or more light sources are fibercoupled to the circulator by a single-mode fiber and the reflected lightis coupled from the circulator to one or more detectors by a multi-modefiber.

In one or more embodiments, the optical directing device is a refractivelens, a diffractive lens, or a focusing mirror. This focusing componentoperates as a single optical device. In one example, it comprises asingle component. In another example, it comprises multiple components.The optical directing device serves to optically couple the target endof the at least one multi-clad fiber to the targets external to theapparatus.

By configuring the multi-clad optical fiber and optical directing deviceto direct the transmitted optical rays on an optical pathway leading tothe target and direct the reflected optical rays on an optical pathwayleading to the detector in the aforementioned manner, parallax errorproblems that occur in LiDAR sensors using separate optical lenses fordirecting transmitted and reflected optical rays respectively, areeliminated.

According to another aspect, a method for light detecting and ranging(LiDAR) sensing system is provided. The method can comprise receiving,in the core of at least one multi-clad optical fiber, optical raystransmitted from a light source of the sensing system; routing thetransmitted optical rays through the core, directing the transmittedoptical rays routed through the core on an optical path leading to atarget to be sensed; receiving optical rays reflected from the targetand directing the reflected optical rays to both the core and innercladding of the or each multi-clad optical fiber; and routing thereflected optical rays through the inner cladding for receiving by adetector of the sensing system.

In one embodiment, apparatus further comprises a plurality of themulti-clad optical fibers, the plurality of multi-clad fibers comprisinga first multi-clad fiber and a second multi-clad fiber. The firstmulti-clad fiber is arranged to receive first optical rays transmittedfrom at least one first light source and route the transmitted firstoptical rays on an optical path leading to the optical directing device.The optical directing device is configured both to direct the routedtransmitted first optical rays on an optical path leading to a target tobe sensed and direct reflected first optical rays from the target on anoptical path leading to the first optical fiber. The first fiber isconfigured to receive the reflected optical first rays and route thereflected first optical rays for receiving by at least one firstdetector. The second multi-clad fiber is arranged to receive secondoptical rays transmitted from at least one second light source and routethe transmitted second optical rays on an optical path leading to theoptical directing device. The optical directing device is configuredboth to direct the routed transmitted second rays on an optical pathleading to a target to be sensed and direct reflected second opticalrays from the target on an optical path leading to the second opticalfiber. The second fiber is configured to receive the reflected opticalsecond rays and route the reflected second optical rays for receiving byat least one second detector.

In one or more of the embodiments, at least one optical circulator isincorporated into the optical apparatus. The optical circulator isarranged to direct the optical rays transmitted from the light source onthe optical path leading to the multi-clad optical fiber and block thetransmitted optical rays from reaching the detector. The opticalcirculator is further arranged to allow the reflected optical raysreceived and routed by the multi-clad optical fiber on an optical pathleading to the non-reciprocal component to reach the optical path for adetector coupling the circulator.

In one or more of the embodiments, the optical apparatus includes anoptical coupling device or system comprising one optical fiber extendingbetween the at least one light source and the core of each multi-cladfiber; and at least one optical fiber extending between the innercladding of each multi-clad fiber and the at least one detector for eachmulti-clad fiber. The fibers extending to the multi-clad fiber arecoupled to the multi-clad fiber by fusion butt splice or other suitabletechniques. By way of example, this coupling may also be achieved byproximal location of the fiber ends, optionally with an index matchingsubstance between the multi-clad fiber and the other fibers to improvecoupling efficiency. Parallel fiber coupling may be used to couple theinner core of each multi-clad fiber to fibers extending to the at leastone detector for each multi-clad fiber.

In one or more of the embodiments, the apparatus has an optical couplingsystem for each multi-clad fiber configured to optically air couple eachmulti-clad fiber core to the at least one light source and/or the innercladding of each multi-clad fiber to the at least one detector for eachfiber.

In one or more of the embodiments that utilize optical air couplingbetween each multi-clad fiber and the at least one light source and/orthe at least one detector, the embodiments further comprise an opticalcirculator for each multi-clad fiber, configured to direct optical raystransmitted from the at least one light source on an optical pathleading to the core of each multi-clad fiber and block the transmittedlight from the source from reaching the at least one detector. Thecirculator is further configured to direct optical rays received in thecore of each multi-clad fiber on a path leading to the at least onedetector. In one or more such embodiments, the received light in thecore is directed by the circulator to a separate detector from thedetector receiving light from the inner cladding. Alternatively, one ormore embodiments may be configured so that received light in the coremay be directed by the same detector that receives light from the innercladding.

In one or more of the embodiments, the apparatus has an optical couplingsystem configured to air couple the light from an array of apparentlight sources to the cores of the multi-clad fiber arranged in a similararray, and configured to air couple the source/detector ends of themulti-clad fibers (both cores and inner claddings) to a similar array ofdetectors. This air coupling is achieved by an optical imagingarrangement. While it requires precision relative placement between theitems in each array so that the arrays precisely match each other, thisapproach may provide a more compact system with lower part count andsimplified alignment during assembly. In one or more such embodiments,the array of apparent light sources may comprise optical fibers coupledto one or more light sources.

In one or more embodiments, the apparatus has an optical coupling systemfor each multi-clad fiber that comprises an optical circulator. Theoptical circulator is arranged to direct optical rays transmitted by theat least one light source to the core of each multi-clad fiber and blocksource rays from reaching the detector for each multi-clad fiber. Theoptical circulator is further arranged to direct reflected optical raysreceived in both the core and inner cladding of each multi-clad fiber onan optical path to the detector for each multi-clad fiber. In one ormore such embodiments the one or more light sources would be fibercoupled to each circulator by a single-mode fiber, and the receivedlight would be coupled from each circulator to each detector by amulti-mode fiber.

According to another aspect, there is provided a method for lightdetection and ranging sensors, the method comprises receiving, in atleast one multi-clad optical fiber, optical rays transmitted from atleast one light source; routing the transmitted optical rays through thefiber, directing the transmitted optical rays routed through the fiberon an optical path leading to a target to be sensed; receiving reflectedoptical rays from the target and directing the reflected optical raysinto the optical fiber; and routing the reflected optical rays throughthe fiber for receiving by a detector.

In one embodiment, the step of receiving, in at least one multi-cladoptical fiber, optical rays transmitted from at least one light sourcecomprises receiving, in the core of at least one multi-clad opticalfiber, optical rays transmitted from at least one first light source.The step of routing the transmitted optical rays comprises routing thetransmitted optical rays through the core. The step of directing thetransmitted first optical rays routed through the or each fiber on anoptical path leading to a target to be sensed comprises directing,utilizing an optical directing device, the transmitted optical rays fromthe core of the or each fiber on the optical path to the target. Thestep of directing the reflected optical rays into the optical fibercomprises directing, utilizing an optical directing device, thereflected optical rays into the inner cladding of each optical fiber.The step of routing the reflected optical rays through the or each fibercomprises routing the reflected optical rays through the inner claddingof each fiber for receiving by at least one detector.

In one or more examples of the method, the optical directing device is arefractive lens, a diffractive lens, or a focusing mirror.

The method can further comprise directing, utilizing an opticalcirculator for the or each multi-clad fiber, the optical raystransmitted from the at least one light source on an optical pathleading to the core of the or each multi-clad fiber and blocking thetransmitted optical rays from reaching the at least one detector;routing the transmitted optical rays through the core of the or eachfiber, directing, utilizing the optical directing device, optical raysreflected from the target to the core of the or each fiber, routingreflected first optical rays through the core on a optical path leadingto the optical circulator for the or each fiber; and directing,utilizing the optical circulator for the or each fiber, the reflectedoptical rays routed through the core of the or each fiber on an opticalpath to the at least one detector. In other embodiments in which themethod comprises receiving the transmitted optical rays in a pluralityof multi-clad fibers, the method includes utilizing a respective opticalcirculator for one or more but not all of the multi-clad fibers of theplurality of multi-clad fibers.

In one embodiment, the method can further comprise directing, utilizinga second non-reciprocal component, the optical rays transmitted from theat least one second light source on an optical path leading to thesecond core and blocking the transmitted optical rays from reaching theat least one second detector; routing the transmitted optical raysthrough the second core, directing, utilizing the optical directingdevice, optical rays reflected from the target to the second core,routing reflected optical rays through the second core on a optical pathleading to the second non-reciprocal component; directing, utilizing thesecond non-reciprocal component, the reflected optical rays routedthrough the second core on an optical path to the at least one seconddetector.

In one or more embodiments, a transverse motion component is included tomove the ends of the one or more multi-clad fibers. The ends moved arethose that project transmitted light to and receive reflected light fromthe optical directing device. The fiber ends are moved relative to theoptical directing device in one or more directions transverse to thedirecting device's main optical axis, while substantially maintainingtheir focal relationship to the optical directing device. The motion issmall enough that the light projected toward the optical directingdevice stays within its clear aperture. This transverse motion has thebeneficial effect of changing the angle at which the optical directingdevice directs rays to and from targets. Since the fibers arelightweight and flexible, this sensing angle can be changed veryrapidly. This transverse motion mechanism forms the basis for high speedscanning of the sensing direction. Because the transmitted lightprojects to the optical directing device from the same fiber end wherethe optical directing device directs received reflected light, thistransverse motion does not cause a loss of alignment or reduce theability of the apparatus to sense targets. It would be opticallyequivalent to move the optical directing device relative to the ends ofthe multi-clad fibers, while the fibers remain stationary. Embodimentsof the apparatus could be constructed in which the optical directingdevice is transversely moved while the fiber ends remain stationary. Insome examples, embodiments of either type would implement oscillatorytransverse motions in the frequency range of 5 Hz to 5000 Hz.Embodiments of the apparatus which move a smaller mass would likely bepreferred since the smaller mass induces smaller mechanical reactionforces in the apparatus given the same displacement amplitude andfrequency.

In yet another aspect, a LiDAR sensor is provided comprising an opticalapparatus of any of the aforementioned embodiments.

According to yet another aspect, a light detecting and ranging (LiDAR)sensor is provided. The LiDAR sensor comprises any one of the opticalapparatus of the aforementioned embodiments.

According to yet another aspect, a method of operating the aforesaidlight detecting and ranging (LiDAR) sensors is provided.

DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic system diagram illustrating a multi-clad fiberbased optical apparatus for a light detecting and ranging (LiDAR) remotesensing system according to an embodiment;

FIG. 2 is a schematic diagram depicting an optical apparatus for a lightdetecting and ranging (LiDAR) sensing system according to an embodiment;

FIG. 3 is a schematic diagram depicting an optical apparatus for a lightdetecting and ranging (LiDAR) sensing system according to an embodiment;

FIG. 4 is a schematic diagram depicting an optical apparatus for a lightdetecting and ranging (LiDAR) sensing system including an opticalcirculator according to an embodiment;

FIG. 5 is a schematic diagram depicting an optical apparatus for a lightdetecting and ranging (LiDAR) sensing system including an opticalcirculator according to an embodiment;

FIG. 6 is a schematic diagram depicting an alternative example of theoptical apparatus of FIG. 2 in which a single detector is utilized;

FIG. 7 is a schematic diagram depicting an alternative example of theoptical apparatus of FIG. 5 in which a multi-clad fiber is integrated inthe optical circulator to route received reflected optical rays to thedetector;

FIG. 8 is a schematic diagram depicting multiple multi-clad fiber basedoptical apparatus for light detection and ranging sensors according toanother embodiment;

FIG. 9 is a schematic diagram depicting an exemplary LiDAR sensorincorporating the single multi-clad fiber based optical apparatus ofFIG. 2 according to one embodiment;

FIG. 10 is a schematic diagram depicting an exemplary LiDAR sensorincorporating the multiple multi-clad fiber based optical apparatus ofFIG. 8 according to one embodiment; and

FIG. 11 is a schematic diagram depicting a multi-clad fiber basedoptical apparatus including a fiber movement mechanism for altering thedirection of the optical rays transmitted from the multi-clad fiberaccording to one embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

In the following description, for purposes of explanation and notlimitation, specific details are set forth, such as particularembodiments, procedures, techniques, etc. in order to provide a thoroughunderstanding of the present invention. However, it will be apparent toone skilled in the art that the present invention may be practiced inother embodiments that depart from these specific details.

The term “LiDAR Sensor” refers herein to a device that measures thedistance and reflectance values of objects within its immediateenvironment. There are many types of LiDAR sensors.

The term “Laser Pulse” refers herein to an outbound light fired by thelight source.

The term “Target or Target Surface” refers herein to any object surfacewhich is to be illuminated. The target need not be a solid object (e.g.liquids, fog, airborne dust). In a LiDAR sensor, the object surface isoutside the LiDAR sensor and is illuminated by the sensor's laser pulse.

The term “Reflected Rays” refers herein to inbound light directed towardthe detector.

“Time-of-Flight (TOF)” refers herein to a method for measuring the timeit takes for light pulse to exit the sensor, be reflected by a targetsurface, and return to the sensor. It is not unique to LiDAR sensors;many instruments measure TOF for a wide variety of things (e.g. RADARand SoNAR). A TOF LiDAR sensor uses the TOF method to calculatedistances. Embodiments described herein can be used in other LIDARsensors, such as phase based LiDAR sensors.

Technical features described in this application can be used toconstruct various embodiments of methods and apparatus for lightdetecting and range sensing. In one approach, a light detecting andranging (LiDAR) sensor uses an optical directing device; a multi-cladoptical fiber, a light source, and a detector. The light source isoptically coupled to the multi-clad optical fiber which is configured toreceive optical rays transmitted from the light source and route therays on an optical path leading to the optical directing device. Theoptical directing device is configured both to direct the transmittedoptical rays routed through the multi-clad fiber towards a target to besensed and direct optical rays reflected from the target on an opticalpath leading to the multi-clad optical fiber. The multi-clad opticalfiber is configured to receive the reflected optical rays and route thereflected optical rays on an optical path leading to the detector. Thedetector is configured to detect the reflected optical rays. In thissame approach additional multi-clad fibers may be configured in the sameway to receive optical rays transmitted from the same or additionallight sources and may be configured in the same way to route reflectedoptical rays on optical paths leading to the same or additionaldetectors. Each multi-clad fiber differs in its angular relationship tothe optical directing device so that the optical directing devicedirects transmitted optical rays from each multi-clad fiber in adifferent direction to external targets and likewise receives reflectedoptical rays from different target directions routing them back alongsubstantially the same directions to each multi-clad fiber thattransmitted in each direction.

In one approach, optical coupling operably couples the light source to acore of the multi-clad optical fiber. Optical coupling operably couplesthe inner cladding to the detector. The core of the multi-clad fiber isarranged to receive optical rays transmitted from the light source androute the transmitted optical rays on an optical path leading to theoptical directing device. The optical directing device is configuredboth to direct the transmitted optical rays routed through the coretowards a target to be sensed and direct optical rays reflected from thetarget on an optical path leading to both the core and the innercladding of the multi-clad fiber. The inner cladding is configured toreceive the reflected optical rays and route the reflected optical rayson an optical path leading to the detector. The detector is configuredto detect the reflected optical rays.

Known architectures of LiDAR sensors from prior art use one optical pathincluding a dedicated lens to direct outgoing laser pulses towardstarget surfaces and a second optical path including a separate lens toreceive the reflected pulses and direct them towards a detector. Such anapproach requires careful alignment be made and maintained between thecomponents of the two optical paths. Such an approach suffers theadditional size, weight, and cost of the lens for the outgoing opticalpath. If such an approach uses a parallel offset to separate the opticalpaths, the sensor may suffer degraded performance with targets in thenear field as the reflected light focuses to a point away from thecenter of the detector.

Such an approach suffers from a parallax error that is created by thedistance between the positions of the transmitting and receiving lenses.The parallax error manifests itself in a reduced amount of optical raysreaching the detector and a subsequent weaker signal. The weaker signalreduces the sensor's overall performance for measuring distances andcalculating reflectance values for objects near the sensor. One or moreembodiments described herein have several advantages over existingoptical apparatus found in LiDAR sensors. The first is the eliminationof a lens. This reduces the LiDAR's bill of material cost and eliminatesthe parallax error. Eliminating the lens also eliminates the time andlabor of aligning the second lens and/or the components behind thesecond lens.

Reference will now be made to the drawings in which the various elementsof embodiments will be given numerical designations and in whichembodiments will be discussed so as to enable one skilled in the art tomake and use the invention.

Specific reference to components, process steps, and other elements arenot intended to be limiting. Further, it is understood that like partsbear the same reference numerals, when referring to alternate figures.It will be further noted that the figures are schematic and provided forguidance to the skilled reader and are not necessarily drawn to scale.Rather, the various drawing scales, aspect ratios, and numbers ofcomponents shown in the figures may be purposely distorted to makecertain features or relationships easier to understand.

In the exemplary optical apparatus described herein with reference tothe figures, the core of the multi-clad fiber is configured to act as asingle mode waveguide for the light source's wavelength. This is chosento afford the highest quality, possibly diffraction limited, beamprofile for the optical rays transmitted by the optical directing deviceto the target. However, in other embodiments, the core of the multi-cladfiber is configured as a waveguide operating in a multi mode.

FIG. 1 depicts a schematic system diagram illustrating the use ofmulti-clad fiber based optical apparatus for a light detecting andranging (LiDAR) remote sensing according to an embodiment. The opticalapparatus 61 comprises an optical sub assembly 21, multi-clad fiber 5and optical directing device 6. Sub assembly 21 comprises a laser orother light source 1, a detector 3, and optical coupling for couplingthe laser and detector to the multi-clad fiber 5. Multi-clad fiber 5 isconfigured to route a laser pulse from the laser 1 to an optical lens 6and route received optical rays 51 back through the multi-clad fiber 5to the detector 3.

In FIG. 1, the optical apparatus transmits and receives optical rays toenable measurement of the sensor's distance to a target and calculate areflectance value for that target. The process starts when the laserfires optical rays into an optical fiber 16 leading to the core of amulti-clad optical fiber 5, and the optical rays 50 are transmittedthrough a lens 6 towards targets down range. The optical rays 50 strikea target and are reflected back towards the same lens. The lens focusesthe reflected optical rays 51 into both the core and the inner claddingof the multi-clad fiber 5. An optical fiber 15 couples light from theinner cladding onto the detector 3. In other embodiments, the opticaldirecting device can be a focusing mirror, for example a parabolicreflector, instead of lens 6. In other examples, the optical directingmechanisms used as the device to direct optical rays are diffractivelenses or refractive lenses. Combinations of such optical components mayalso be used to provide the optical directing mechanism. In yet otherexamples, any component(s) or mechanism that is capable of focusing thereflected optical rays down into the multi-clad optical fiber can serveas the optical directing device.

FIG. 2 depicts a schematic diagram of the multi-clad fiber based opticalapparatus according to an embodiment. The optical apparatus 62 comprisesan optical sub assembly 22, multi-clad fiber 5 and optical directingdevice 6. The optical sub assembly 22 comprises a light source 1, whichin this example is a laser 1, detector 3 and optical coupling elements2,4,8,9 and 10. In the example of FIG. 2, the optical apparatus for theLiDAR sensing system is an air-coupled apparatus. The detector 3 in thisexample is an avalanche photodiode (APD). In other examples, other typesof diodes or light to electrical transducers can be used as thedetector. The multi-clad optical fiber 5 has a core 16, inner cladding15 and outer cladding 18. The optical directing device is in the form oflens 6. Lens 4, mirror with hole 9 and optical lenses 8 & 10 formoptical coupling arranged to air couple the fiber core to laser 1 andair couple the fiber inner cladding to the detector 3

In FIG. 2, the fiber core 16 is arranged to receive optical raystransmitted from the light source 1 and route the transmitted opticalrays towards optical lens 6. Optical lens 6 is configured both to directthe transmitted optical rays routed through the core 16 towards a targetsurface 17 to be sensed and direct optical rays reflected from thetarget towards both the core 16 and the inner cladding 15 of the opticalfiber 5. The inner cladding 15 is configured to receive the reflectedoptical rays and route the reflected optical rays towards the detector3. The detector is configured to detect the reflected optical rays. Inother embodiments, the optical directing device can be a focusingmirror, for example a parabolic reflector. In other examples, theoptical mechanism used to direct optical rays is a diffractive lens orrefractive lens. Combinations and/or a multiplicity of such opticalcomponents may also be used to provide such an optical mechanism. In yetother examples, any component(s) or mechanism that is capable offocusing the reflected optical rays down into the multi-clad opticalfiber can serve as the optical directing device.

One example of the method of operation of the optical apparatus 62 is asfollows. The multi-clad fiber based optical apparatus 62 uses a freespace fiber coupling arrangement that allows a light pulse fired by theLaser 1 from the optical sub assembly 22 to travel through a hole in themirror 9 and into multi-clad fiber 5. After the light pulse strikes thetarget surface 17 down range, the reflected light pulse travels backtowards the optical subs assembly 22, through lens 6, enters and thensubsequently exits multi-clad fiber 5, and the reflected light pulsethen travels through a second lens 8 and is directed onto mirror 9.After being reflected off the mirror 9, the optical ray travels to yetanother lens 4 that directs the optical ray onto the detector 3.

The commercial advantages of using the optical apparatus of the one ormore embodiments are:

1. Allows simpler design of LiDAR sensors that are easier and lessexpensive to build. It has only one lens for directing transmitted raysonto the target and receiving reflected optical rays instead of two. Iteliminates the need to precisely align the laser emitter and detectorbehind this lens.

2. Embodiments are more reliable in the field than optical apparatusused in known LiDAR sensors. Small displacements of the double cladfiber relative to the lens, caused by vibration or temperature change,will not result in a loss of alignment between the laser emitter anddetector. For example, a LiDAR sensor that uses separate channels forrouting light pulses from the emitter and optical rays to the detectorthat are exposed to constant vibration and sudden shock are vulnerableto moving out of alignment. Once out of alignment, the LiDAR sensor willprovide erroneous data. An optical path that uses multi-clad fiber has asingle channel for both the emitter and detector. This approach avoidsthe misalignment problem that might occur when the LiDAR sensor isexposed to vibrations and shock as the multi-clad fiber moves as onepart.

Referring now to FIG. 3, which depicts a schematic diagram of an opticalapparatus 63 for light detecting and range sensing according to anotherembodiment. The optical apparatus has an optical sub-assembly 23,multi-clad fiber 5, and optical directing device 6. The sub-assembly 23comprises a laser 1, coupling fibers 2,7 detectors 3 and optical lenses11 coupling fibers 7 to the detectors 3. Optical directing device 6 isin the form of an optical lens. The plurality of detectors 3 is in thisexample a plurality of avalanche photodiode-detectors. Multi-cladoptical fiber 5 has a core 16, an inner cladding 15 and outer cladding18. In this example, core 16 of the multi-clad fiber at optical fibersplice location 14 is optically coupled to the light source 1 by opticalfiber 2. Inner cladding 15 of the multi-clad fiber 5 is opticallycoupled to the plurality of photo detectors by optical fibers 7.

In FIG. 3, core 16 is arranged to receive optical rays transmitted fromlight source 1 via coupling fiber 2 and route the transmitted opticalrays towards the optical lens 6. The optical lens 6 is configured bothto direct the transmitted rays routed through the core towards a target17 to be sensed and direct reflected optical rays 51 from the targettowards both the core and the inner cladding of the multi-clad fiber 5.The inner cladding is configured to receive the reflected optical raysand route the reflected optical rays towards the optical splicinglocation 14. At the optical splicing location the fiber splits thereflected optical rays routed through the inner cladding 15 into aplurality of reflected optical ray beams. The plurality of LiDARdetectors 3 are optically coupled to the inner cladding 15 by fibers 7to respectively detect the reflected plurality of beams. In otherembodiments, the optical directing device can be a focusing mirror, forexample a parabolic reflector. In yet other examples, any component(s)or mechanism that is capable of focusing the optical rays down into themulti-clad optical fiber can serve as the optical directing device. Inother examples, other types of diodes or light to electrical transducerscan be used as each detector 3. Also, in other examples, the detectors 3may be different from one another.

Furthermore, in an alternative example of the optical sub assembly 23 ofFIG. 3, optical fibers 7 can be operably coupled to the same singleoptical detector 3 to route reflected light from the inner cladding 15to the same detector 3. One example of such an optical sub assembly 26is shown in the schematic diagram of the optical apparatus 66 of FIG. 6.

In another aspect of the optical apparatus, a non-reciprocal opticalcomponent is integrated into the design to capture the optical raysreceived by the core of the multi-clad fiber. In non-reciprocal optics,changes in the properties of light passing through the device are notreversed when the light passes through in the opposite direction. In oneembodiment, the non-reciprocal optical component integrated into thesystem is an optical circulator. In one approach the optical circulatoris integrated into the design between the light source and the core ofthe multi-clad fiber. The optical circulator directs the optical raysfrom the light source out through the core of the multi-clad fiber tothe optical directing device. Reflected optical rays that return throughthe optical directing device are focused into both the inner claddingand the core of the multi-clad fiber. Reflected optical rays receivedinto the core return to the optical circulator which directs these raystoward a detector. The optical circulator directs the vast majority ofoptical rays from the light source toward the core of the multi-cladfiber and it directs the vast majority of the optical rays from the coreof the multi-clad fiber toward the detector. There is very littleleakage through the optical circulator from the light source directlytoward the detector and very high transmission in the preferreddirections.

The optical circulator is a component for routing the light within theOptical Path of the Multi-clad Fiber. The important characteristic ofthe optical circulator is that light that enters one port exits from thenext port. In a typical three port design, light enters port 1 will exitport #2. Light that enters the optical circulator from port #2 will exitfrom port #3. This enables bi-directional communication over a singlefiber (Multi-clad fiber). Optical circulators are non-reciprocal optics.

Reference will now be made to embodiments of the optical apparatus inwhich non-reciprocal optical components are utilized. By way of example,FIG. 4 is a schematic diagram depicting an optical apparatus 64 for alight detecting and range sensing (LiDAR) according to one embodiment.The optical apparatus comprises an optical sub assembly 24, multi-cladfiber 5 and optical directing device 6. In the example of FIG. 4,optical apparatus 64 comprises an air-coupled multi-clad based opticalapparatus as shown in FIG. 2 but with an optical circulator integratedtherein. Optical sub assembly 24 shown in FIG. 4 has a light source,which in this example is a laser 1, optical fibers 2, detectors 3, whichin this example are avalanche photodiode-detectors, mirror with hole 9and further optical lenses 4, 8, 10 and 11. The optical directing deviceis in the form of optical lens 6, multi-clad optical fiber 5 has a core16, inner cladding 15 and outer cladding 18. Optical fiber 2 and lens 11optically couples detector 3 to the optical circulator port #3. Opticalfibers 2, lenses 4, 8, 10 and mirror with hole 9 form optical couplingswhich couple the laser 1 to port #1 of the optical circulator 12 and onto fiber core 16 via circulator port #2 and which optically couple thefiber inner cladding 15 to another detector 3, which in this example isavalanche photodiode-detector.

In FIG. 4, optical circulator 12 is arranged to direct optical raystransmitted from the light source 1 through port #1 and on towards thefiber core 16 via port #2 and to block any of these transmitted opticalrays from reaching detector 3 coupled to port #3. The multi-clad fibercore 16 is arranged to receive the optical rays from the opticalcirculator port #2 via the optical coupling and route the transmittedoptical rays 50 towards optical lens 6. Optical lens 6 is configuredboth to direct the routed transmitted optical rays on to a target 17 tobe sensed and direct reflected optical rays from target 17 towards boththe core 16 and the inner cladding 15 of the multi-clad fiber 5. Thecore 16 and the inner cladding 15 are configured to receive thereflected optical rays 51. Inner cladding 15 is configured to route someof the reflected optical rays for receiving by the detector 3. Opticalcirculator 12 is arranged to allow any reflected optical rays, receivedand routed by the core 16 of the optical fiber to port #2 of opticalcirculator, to reach other detector 3 via circulator port #3. In otherembodiments the fiber 7 may be configured to route reflected rays fromcirculator port #3 to the same detector coupled to the inner cladding.In other embodiments, the optical directing device can be a focusingmirror, for example a parabolic reflector. In yet other examples, anycomponent(s) or mechanism that is capable of focusing the optical raysdown into the multi-clad optical fiber can serve as the opticaldirecting device. In other examples, other types of diodes or light toelectrical transducers can be used as each detector 3. Also, in otherexamples, the detectors 3 may be different from one another.

Referring to FIG. 5, there is shown a schematic diagram depicting anoptical apparatus 65 for light detecting and ranging (LiDAR) sensingincluding an optical circulator according to another embodiment. Theoptical apparatus 65 is as shown in FIG. 3 but with an optical subassembly 25 having an optical circulator 12 integrated therein.

In FIG. 5, optical rays are transmitted from light source 1 throughcoupling fiber 2 into port #1 of optical circulator 12 and out ofoptical circulator port #2 to the core of the multi-clad fiber 5 whichis arranged to receive and route the transmitted optical rays towardsthe optical directing device in the form of optical lens 6. Opticalcirculator 12 blocks the optical rays transmitted from light source 1from reaching the detector 3 optically coupling circulator port #3.Optical lens 6 is configured both to direct the routed transmitted rays50 on to a target 17 to be sensed and direct reflected optical rays froma target 17 towards both the core 16 and the inner cladding 15 of theoptical fiber. The inner cladding 15 is configured to receive thereflected optical rays 51 and route the reflected optical rays tosplicing location 14. At the optical splicing location, the fiber splitsthe reflected optical rays routed through the inner cladding into aplurality of reflected optical ray beams. A plurality of avalanchephotodiode detectors 3, in addition to the detector coupled to port #3,is respectively optically coupled to the multi-clad inner cladding bycoupling fibers 7 to respectively detect the reflected plurality ofbeams. Optical circulator 12 is arranged to allow any reflected opticalrays, received and routed by the core of the optical fiber towards theoptical circulator, to reach detector 3 coupled to port #3. Opticallenses 11 are configured to couple the optical rays to the detectors 3.In other embodiments, optical lenses 11 may be omitted and fibers 7 maybe coupled directly to detectors 3 by proximal location. In otherembodiments, the optical directing device can be a focusing mirror, forexample a parabolic reflector. In yet other examples, any component(s)or mechanism that is capable of focusing the optical rays down into themulti-clad optical fiber can serve as the optical directing device. Inother examples, other types of diodes or light to electrical transducerscan be used as each detector 3. Also, in other examples, one or more ofthe detectors 3 can be a different type of detector. Furthermore, inanother example of the apparatus including the optical circulator shownin FIG. 5, optical fibers 7 to the inner cladding can be operablycoupled to the same single optical detector 3 thereby routing reflectedlight to the same detector 3 (see optical apparatus 66 of FIG. 6 thatincludes an example of an optical sub assembly 26 using multiple opticalfibers to operably couple the inner cladding to a single detector).

FIG. 7 is a schematic of another example of the optical apparatus 67incorporating an optical circulator according to an embodiment. Theoptical sub assembly 27 of FIG. 7 comprises an optical circulator 13that is arranged to optically couple to a single-mode fiber at port #1,a multi-clad fiber at port #2, and a multi-mode fiber at port #3. Forexample, the means of coupling to a multi-clad fiber at port #2 isidentical to coupling a multi-mode fiber whose core diameter is the sameas the largest inner cladding diameter of the multi-clad fiber.

Optical rays transmitted from the light source 1 are routed throughsingle-mode fiber 2 into port #1 of the optical circulator 13 whichdirects those transmitted rays out port #2 into the core of themulti-clad fiber 5 which is arranged to receive and route thetransmitted optical rays towards the optical directing device in theform of optical lens 6. Optical circulator 13 blocks the optical raystransmitted from light source 1 from reaching the detector 3 opticallycoupling circulator port #3. Optical lens 6 is configured both to directthe routed transmitted rays 50 on to a target 17 to be sensed and directreflected optical rays from a target 17 towards both the core 16 and theinner cladding 15 of the optical fiber. Reflected optical rays receivedinto both the core and the inner cladding of the multi-clad fiber returninto port #2 of the circulator and are directed by the circulator outport #3 into multi-mode fiber 19 for detection by detector 3. Themulti-mode fiber 19 can be optically coupled to the detector via thecoupling lens 11 or coupled directly to the detector without lens 11.

In another aspect of the optical apparatus, a plurality of one or moreof the optical assemblies of the embodiments share a common primary lensor other optical directing device for integrating into a multiplelaser/multiple detector LiDAR sensor design to allow measurements inmultiple directions and at a higher aggregate rate. The benefits of thisarchitecture over known apparatus are the same as for the singlelaser/detector system.

By way of example of such an aspect, FIG. 8 is a schematic diagram of amultiple multi-clad fiber based optical apparatus for light detectingand range sensing according to one embodiment. Note that in FIG. 8 (andalso FIGS. 9 & 10), the difference in the return rays from thetransmitted rays are omitted for clarity to emphasize the angulardifference between parallel offset fibers. (Transmitted rays wouldoccupy a smaller area of the lens. Received rays would spread from thetarget to fill the lens. Received rays would extend beyond the core areaof the fibers.)

In FIG. 8, the optical apparatus 68 has a plurality of multi-clad fibers5A-5C, optical directing device 6 and a plurality of optical subassemblies 22A-22C. Each multi-clad fiber 5A-5C has one end opticallycoupled to a corresponding optical sub assembly 22A-22C to receiveoptical rays transmitted from a light source 1 of the assembly and theother end oriented to route transmitted optical rays on an optical pathleading to the optical directing device. In one embodiment, each subassembly 22A-22C is the same as sub assembly 22 of FIG. 2.

By way of example in FIG. 8, first multi-clad fiber 5A has one endoptically coupled to the first sub assembly 22A to receive in the core16A of the first fiber 5A first optical rays transmitted from the firstlight source 1 of the first sub assembly 22A (see FIG. 2 as an exampleof the sub assembly 22A). The other end of the first fiber core 16A isaligned with the optical directing device 6. The optical directingdevice 6 is configured both to direct the routed transmitted first rays50A on an optical path leading to the target 17 to be sensed and directreflected first optical rays 51A from the target 17 on an optical pathleading to the core 16A and the inner cladding 15A at the other end ofthe first optical fiber 5A.

The second multi-clad fiber 5B has one end optically coupled to acorresponding second sub assembly 22B to receive in the core 16B of thesecond fiber second optical rays transmitted from the second lightsource of the second sub assembly 22B (see FIG. 2 for example of the subassembly 22B). The other end of the second fiber core 16B is alignedwith the optical directing device 6. The optical directing device 6 isconfigured both to direct the routed transmitted second rays 50B on anoptical path leading to the target 17 to be sensed and direct reflectedsecond optical rays 51B from the target 17 on an optical path leading tothe core 16B and the inner cladding 15B at the other end of the secondoptical fiber 5B.

The third multi-clad fiber 5C has one end optical coupled to acorresponding third sub assembly 22C to receive in the core 16C of thethird fiber third optical rays transmitted from the third light sourceof the third transmitting and receiving sub assembly 22C (see FIG. 2 forexample of sub assembly 22C). The other end of the third fiber core 16Cis aligned with the optical directing device 6. The optical directingdevice is configured both to direct the routed transmitted third opticalrays 50C on an optical path leading to the target to be sensed anddirect reflected third optical rays 51C from the target 17 on an opticalpath leading to the core 16C and the inner cladding 15C at the other endof the third optical fiber.

The method of operation of the optical apparatus of 68 FIG. 8 is asfollows: The first light source of the first sub assembly 22A generatesfirst optical rays which are transmitted through the core 16A of thefirst fiber 5A onto the optical directing device 6, which in turn,directs the first optical rays 50A onto the target 17 and then directsthe reflected rays 51A into the core 16A and the inner cladding 15A. Thefirst fiber 5A receives the reflected first optical first rays and theinner cladding 15A routes the reflected first optical rays for receivingby the detector of the sub assembly 22A. Each of the second and thirdassemblies 22B-22C in conjunction with their associated second and thirdfibers 5B, 5C and the optical directing device 6, operate in a similarmanner.

In other embodiments, one or more of the plurality of sub assemblies ofFIG. 8 can be a sub assembly of an alternative embodiment. For example,each sub assembly 22-A-22C can be the same as sub assembly 23 of FIG. 3,sub assembly 24 of FIG. 4, sub assembly 25 of FIG. 5, sub assembly 26 ofFIG. 6, sub assembly 27 of FIG. 7, or sub assembly 28 of FIG. 8.

In other embodiments, one or more of the plurality of sub assemblies22A-22C can be different from one or more of the other sub assemblies ofthe plurality. The plurality of sub assemblies can be any combination ofthe sub assemblies 21-27 of FIGS. 2 to 7 or variants thereof describedherein. Each sub assembly operates in conjunction with the associatedmulti-clad fiber and the same output directing device as describedherein before. In yet other embodiments, the same light source and/ordetector can be shared by some or all of the sub assemblies.

In yet another aspect, a LiDAR sensor incorporates an optical apparatusof any one of the aforementioned embodiments. By way of example, FIG. 9illustrates a schematic diagram of a LiDAR sensor 90 according oneembodiment. LiDAR sensor 90 incorporates optical apparatus 62 of FIG. 2,that is, optical sub-assembly 22, multi-clad fiber 5 and opticaldirecting device 6. Sensor 90 further includes peak detection circuitry31, time measurement circuitry 32, peak intensity measurement circuitry34, and general computing device 33 for triggering the laser of theoptical sub assembly and processing signals from detectors of theoptical sub assembly 22. A user computer 35 can be connected to computerdevice 33 for manipulating the LiDAR sensor and recording and/or viewingoutputs thereof. LiDAR sensor 90 further includes a spinning mirrormechanism comprising spinable mirror 37, motor shaft 38, mirror motor 39and angle sensor 40. The optical directing device 6 is configured todirect transmitted light from the multi-clad fiber onto the spinablemirror and to direct reflected light received from the spinable mirrorinto the multi-clad fiber 5. Exterior lens 36 is configured to directtransmitted light from spinable mirror 37 to the exterior of the LIDARsensor and direct reflected light from the exterior to spinable mirror37. Spinable mirror is orientated to direct reflected light receivedfrom the exterior lens to the optical directing device 6 and to directtransmitted light received from the optical directing device 6 to theexterior lens. The functionality of the LiDAR sensor components for thepurpose of triggering the laser of the optical sub assembly 22,processing signals from the detector of the optical sub assembly andoperating the spinning mirror are known in the art and will not bedescribed in detail here. In alternative examples, the optical apparatusincorporated into the LiDAR sensor can be any one of the opticalapparatus 61, 63-67 of the embodiments or variants thereof describedherein instead of optical apparatus 62.

In yet another aspect of the optical apparatus, the optical apparatus ofone or more embodiments is integrated into a multiple laser/multipledetector LiDAR sensor design for three dimensional scanning. Normally, amultiple channel LiDAR sensor requires each laser emitter and detectorpair to be precisely aligned. Additionally if the sensor designtransmits through one lens and received through a second lens, parallaxerrors will be present. Integrating embodiments into a multiple channelLiDAR sensor enables multiple laser emitter and detector pairs to beintrinsically self-aligned and eliminates the need to align separatephysical elements and prevents parallax errors. With traditional twodimensional scanning, the LiDAR sensor detects returns up to 360 degreesabout one axis but only in one fixed angle relative to the perpendiculardirection. For example a LiDAR sensor might provide 360 degree along thehorizontal field of view but only in one fixed angle along the verticalfield of view. A three dimensional LiDAR sensor also can detect up to360 degrees about one axis, but it can also detect on multiple angles inthe second axis. For example a three dimension LiDAR sensor mightprovide 360 degree along the horizontal field of view and 30 degreesalong the vertical field of view. Three dimension LiDAR sensors are usedin perception systems for autonomous vehicles and security systems. Thelarger vertical field of view increase the area the LiDAR sensor canmonitor in real-time and subsequently provide the necessary data toenable advanced object detection and recognition algorithms. Thosealgorithms are critical to the perception systems and security systems.

By way of example, FIG. 10 illustrates a schematic diagram of a LiDARsensor according another embodiment. LiDAR sensor 100 is similar toLiDAR sensor 90 but incorporates the multiple multi-clad fiber basedoptical apparatus 68 of FIG. 8, that is, a plurality of opticalsub-assemblies 22A-22C, multi-clad fibers 5A-5C and the one opticaldirecting device 6. The optical directing device 6 is configured todirect respective light rays transmitted from corresponding multi-cladfibers 5A-5C onto the spinable mirror 37 and to direct respectivereflected light rays received from the spinable mirror intocorresponding multi-clad fibers 5A-5C. Exterior lens 36 is configured todirect transmitted light from spinable mirror 30 to the exterior of theLIDAR sensor and direct reflected light from the exterior to spinablemirror 37. Spinable mirror is orientated to direct reflected lightreceived from the exterior lens to the optical directing device and todirect transmitted light received from the optical directing device 6 tothe exterior lens. The functionality of the LiDAR sensor components forthe purpose of triggering the laser of the optical sub assemblies 22,processing signals from the detector of the optical sub assembly andoperating the spinning mirror are known in the art and will not bedescribed in detail here. In alternative examples, the opticalsub-assemblies 22 incorporated into the LiDAR sensor can be any one ofthe optical sub-assemblies 21-27 of the embodiments described hereininstead of optical sub assemblies 22. In yet further embodiments, theplurality of optical sub assemblies can be made up of any combination ofoptical sub assemblies 21-27.

In yet another approach, a translation mechanism is integrated into theoptical apparatus of any one embodiment to move the multi-clad fiber endfor one or two dimensional scanning. The translation mechanism isconfigured to move the multi-clad fiber end from which optical rays aredirected to the optical directing device and to which reflected opticalrays are received from the optical directing device. The translationmechanism is configured to move in one or more transverse directionswhile substantially keeping the end of the multi-clad fiber at the samefocal relationship to the optical directing device. The direction of thetransmitted optical rays and received reflected rays will be altered indirect relationship to the translation of the end of the multi-cladfiber relative to the optical directing device. In another example,equivalently the optical directing device itself is translated relativeto the end of the multi-clad fiber. Furthermore, in one example, a smallangular tilt of the multi-clad fiber accommodates the translation ofeither the end of the multi-clad fiber or the optical directing deviceto keep the optical rays transmitted from the multi-clad fiber near thecenter of the optical directing device, optimizing performance.

One example of the translation mechanism 111 utilized in conjunctionwith optical apparatus 62 of FIG. 2 is shown in the schematic diagram ofFIG. 11. The translation motor 111 is operably coupled to translationshaft 112 for reciprocating the shaft, and in turn the multi-clad fiberend in an axis transverse to the longitudinal axis of the multi-cladfiber end 114. By way of example in FIG. 11, the transverse motor isoperable to transversely move the multi-clad fiber end 114 from a firstposition as indicated by solid line of the multi-clad fiber to a secondposition as indicated by dotted line of the multi-clad fiber. Asindicated in FIG. 11, by transversely moving the fiber end 114 from thefirst position to the second position, the direction of the light rays(shown in solid line 113) transmitted from the fiber end are alteredresulting in the transmitted light rays (see dotted line 115) beingdirected by the optical directing device 6 to an altered position at thetarget. A corresponding adjustment in the direction of the raysreflected from the target also results (see dotted line 115) such thatthe reflected rays are directed by the optical directing device to themulti-clad fiber in the second position.

In other examples, the fiber translation mechanism can be utilized inconjunction with other optical apparatus 61-68 of the embodiments. Inexamples in which the optical apparatus includes a plurality ofmulti-clad fibers such as optical apparatus 68, the transverse shaft ofthe translation mechanism is operably connected to the fibers to movethe fiber ends in parallel directions.

While preferred embodiments of the present invention have been describedand illustrated in detail, it is to be understood that manymodifications can be made to the embodiments, and features can beinterchanged between embodiments, without departing from the spirit ofthe invention.

What is claimed is:
 1. A LiDAR sensor comprising: a laser; a single-modefiber positioned to receive optical rays output from the laser; anoptical circulator comprising a first port, a second port, and a thirdport, the optical circulator configured to direct optical rays from thefirst port to the second port and optical rays from the second port tothe third port, the optical circulator further positioned to receiveoptical rays from the single-mode fiber at the first port; a multi-cladfiber comprising a core, an inner cladding, and an outer cladding, thecore positioned to receive optical rays from the second port of theoptical circulator and direct the optical rays from the second porttoward a target, and the inner cladding positioned to receive opticalrays reflected from the target, wherein the core of the multi-clad fiberis positioned to receive optical rays reflected from the target anddirect the received optical rays to the second port of the opticalcirculator; a first optical detector positioned to receive the opticalrays, reflected from the target, from the inner cladding of themulti-clad fiber; a multi-mode fiber positioned to receive optical raysfrom the core of the multi-clad fiber via the third port of the opticalcirculator; and a second optical detector positioned to receive opticalrays from the multi-mode fiber.
 2. The LiDAR sensor of claim 1, furthercomprising an optical directing device focusing light from themulti-clad fiber toward the target, and focusing reflected light fromthe target toward the multi-clad fiber.
 3. The LiDAR sensor of claim 2,wherein the optical directing device consists of a single lens.
 4. TheLiDAR sensor of claim 2, wherein the optical directing device consistsof a single mirror.
 5. The LiDAR sensor of claim 2, wherein the opticaldirecting device comprises at least one lens or mirror, and wherein bothoutgoing optical rays from the multi-clad fiber and reflected opticalrays from the target are directed by the at least one lens or mirror. 6.The LiDAR sensor of claim 2, further comprising a transverse motiondevice configured to dynamically change a position of the multi-cladfiber relative to the optical directing device, such that the multi-cladfiber is positioned to direct and receive optical rays from differentlocations on one or more targets.
 7. The LiDAR sensor of claim 6,wherein the optical directing device focuses light from the multi-cladfiber toward the target and focuses reflected light from the targettoward the multi-clad fiber, and wherein the dynamically changingposition of the multi-clad fiber substantially maintains a focalrelationship with the optical directing device.
 8. The LiDAR sensor ofclaim 6, wherein the transverse motion is in an oscillatory pattern. 9.The LiDAR sensor of claim 8, wherein the transverse motion oscillates ata frequency between 5 Hz and 5000 Hz.
 10. The LiDAR sensor of claim 1,wherein the first and the second optical detectors comprise avalanchephotodiodes.
 11. The LiDAR sensor of claim 1, wherein the LiDAR sensoris a three-dimensional LiDAR sensor.
 12. The LiDAR sensor of claim 1,wherein the inner cladding splits from the multi-clad fiber at asplicing location to direct the optical rays, reflected from the target,to the first optical detector.
 13. The LiDAR sensor of claim 1, whereinthe inner cladding directs the optical rays, reflected from the target,to the first optical detector via a plurality of optical couplingelements.
 14. The LiDAR sensor of claim 13, wherein the plurality ofoptical coupling elements comprises a mirror.
 15. The LiDAR sensor ofclaim 14, wherein the mirror includes a hole through which the opticalrays from the second port are directed to be received by the multi-cladfiber and outputted to the target.
 16. The LiDAR sensor of claim 14,wherein the plurality of optical coupling elements further comprises aplurality of lenses.
 17. A compound LiDAR sensor, comprising a pluralityof LiDAR sensors, each of the plurality of LiDAR sensors comprising: alaser; a single-mode fiber positioned to receive optical rays outputfrom the laser; an optical circulator comprising a first port, a secondport, and a third port, the optical circulator configured to directoptical rays from the first port to the second port and optical raysfrom the second port to the third port, the optical circulator furtherpositioned to receive optical rays from the single-mode fiber at thefirst port; a multi-clad fiber comprising a core, an inner cladding, andan outer cladding, the core positioned to receive optical rays from thesecond port of the optical circulator and direct the optical rays fromthe second port toward a target, and the inner cladding positioned toreceive optical rays reflected from the target, wherein the core of themulti-clad fiber is positioned to receive optical rays reflected fromthe target and direct the received optical rays to the second port ofthe optical circulator; a first optical detector positioned to receivethe optical rays, reflected from the target, from the inner cladding ofthe multi-clad fiber; a multi-mode fiber positioned to receive opticalrays from the core of the multi-clad fiber via the third port of theoptical circulator; and a second optical detector positioned to receiveoptical rays from the multi-mode fiber.
 18. The compound LiDAR sensor ofclaim 17, each of the plurality of LiDAR sensors further comprising: anoptical directing device focusing optical rays from the multi-clad fibertoward the target and focusing optical rays reflected by the targettoward the multi-clad fiber.